中文摘要：

SINS／GPS组合可以有效提高导航系统的性能。建立SINS／GPS全系统仿真模型，构建SINS仿真器、GPS星座，并给出最佳导航星的选择方法。在建立SINS／GPS组合导航系统状态模型和量测模型的基础上，分别以位置、速度为观测量和以伪距、伪距率为观测量设计了松组合与紧组合导航系统的Kalman滤波器。在相同的条件下，对这两种不同组合模式的导航系统进行仿真验证。仿真结果表明，与松组合导航系统相比，紧组合导航系统的收敛性能更好，尤其是在受到外界干扰或遮挡，使可用的导航星数目不足四颗时，紧组合导航系统具有更好的导航性能。

英文摘要：

The performance of navigation system can be effectively augmented by SINS and GPS inte- gration. The simulation model of the integrated system is established, SINS simulator and GPS satellite groups are constructed, and the algorithm of choosing the best satellite group is also presented. Based on the established state and measurement models of the integrated system, the Kalman filters of loosely and tightly coupled navigation systems are designed, which respectively chooses position, velocity and pseudo- range, pseudo-range rate as measurements. Under the same conditions, the two different integrated navi- gation modes are simulated and verified respectively. The simulation results show that the tightly coupled system has better performance in convergence comparing with the loosely one, and especially when the number of available navigation satellites are less than four which is caused by outside interference or shel- tered, the tightly coupled navigation system has better performance.